Robotic vacuum cleaner and a method in a robotic vacuum cleaner

ABSTRACT

A robotic vacuum cleaner having a nozzle arranged in a portion of a housing facing a surface to be cleaned. The nozzle has a leading edge portion having channels leading to the suction opening at two different heights from the surface.

TECHNICAL FIELD

The present invention relates to a robotic vacuum cleaner.

BACKGROUND

A robotic vacuum cleaner forms of a self-propelling unit provided with a drive arrangement comprising a control system configured to control a movement of the robotic vacuum cleaner along a surface to be cleaned. The control system may comprise one or more sensors providing input to assist in controlling the movement of the robotic vacuum cleaner. A vacuum producing unit of the robotic vacuum cleaner is arranged in fluid communication with an opening of a nozzle inlet facing the surface to be cleaned. Debris sucked or otherwise propelled into the opening is directed into a debris receptacle of the robotic vacuum cleaner. The debris receptacle is emptied, or replaced, when filled with debris to a certain degree.

Since a robotic vacuum cleaner is to move freely about a surface to be cleaned it would be limited in its movements by an electric cord. Thus, a robotic vacuum cleaner is battery powered and the cleaning capability of a robotic vacuum cleaner has to be designed with the capacity of the on-board battery in mind. Accordingly, the drive arrangement, the capacity of the vacuum producing unit, the use of various rotating brushes, etc. affect consumption of electric power and thus, the design of a robotic vacuum cleaner.

Thus, the vacuum, or suction, produced by the vacuum producing unit should be produced with as low electric energy consumption as possible while maintaining good cleaning efficiency.

Also, todays cleaners assume likewise spreading of particles over the length of the nozzle width and are thereby having openings in the nozzle to allow for this. This may reduce the overall cleaning performance since opening up the nozzle leads to air leakage.

SUMMARY

It is an object of the present invention to provide a robotic vacuum cleaner, a nozzle and a method having potential to effectively clean fine dust and particles as well as cleaning larger debris than dust, such larger particles and small stones, into the robotic vacuum cleaner.

The present invention is described in the independent claims.

According to an aspect of the invention, a robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned, a vacuum producing unit, a debris receptacle, and a nozzle inlet arranged in a portion of the housing facing the surface to be cleaned. The nozzle inlet comprises a frame structure forming an opening, the opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit being arranged in in fluid communication with the opening. The frame structure has a leading edge portion and opposite thereto a trailing edge portion, the leading edge portion and the trailing edge portion border to the opening. The frame structure comprises a base portion extending substantially in parallel with the surface to be cleaned. The first level is arranged closer to the surface to be cleaned than the second level.

Since the nozzle inlet comprises the base portion extending at the first level and the channel formed between the distance members has the delimiting surface extending at the second level, a larger air flow is produced in the channel by the vacuum producing unit than at the base portion and the distance members at the first level.

It is understood that the first level is arranged closer to the surface to be cleaned than the second level in use of the robotic vacuum cleaner. The robotic vacuum cleaner may be a self-propelling unit. The drive arrangement may comprise one or more wheels, of which at least one wheel is directly or indirectly driven by an electric drive motor. The drive arrangement may further comprise a control system configured to control the electric drive motor to move the robotic vacuum cleaner about the surface to be cleaned. The control system may comprise one or more sensors to provide input assisting in controlling the movement of the robotic vacuum cleaner. The at least one sensor may be of one or more different kinds, such as e.g. an infrared sensor, a laser sensor, an ultrasonic sensor, or a contact sensor. The vacuum producing unit may comprise a fan driven by an electric fan motor. The opening may be arranged in fluid communication with the debris receptacle via a debris conduit system. The vacuum producing unit may be arranged in fluid communication with the opening via the debris conduit system and optionally also the debris receptacle, i.e. the vacuum producing unit in some embodiments may create a suction from the opening of the nozzle inlet via the debris conduit system to the debris receptacle. In use of the robotic vacuum cleaner the leading edge portion of the frame structure travels ahead of the trailing edge portion in most cleaning situations. The robotic vacuum cleaner may comprise one or more rotatable brushes assisting in propelling debris towards, or into, the opening of the nozzle inlet. The rotatable brushes may be driven by one or more electric brush motors. Besides controlling the drive motor, the control system may also control the fan motor and/or the one or more brush motors. The robotic vacuum cleaner may comprise one or more rechargeable batteries configured to power the drive arrangement including the control system and the various electric motors.

According to embodiments, the first level may extends at distance of less than 2 mm from the surface to be cleaned. In this manner the vacuum producing unit may produce a substantial suction force in an area around the base portion of the frame structure, which base portion is arranged at the first level, and no protruding element, such as a resilient ridge, extending along a portion of the opening may be required to reduce the amount of air flowing into the opening. Moreover, with the first level extending at a distance of less than 2 mm from the surfaced to be cleaned, the larger air flow in the channel may be attained. It is understood that the first level may extend at a distance of less than 2 mm from the surface to be cleaned in use of the robotic vacuum cleaner. The distance between the first level and the surface to be cleaned is measured when the robotic vacuum cleaner is standing on a firm surface such as a hardwood flooring.

According to embodiments, the base portion may be that part of the nozzle inlet which extends closest to the surface to be cleaned. In this manner the nozzle inlet may not require any protruding element, such as a resilient ridge, extending along a portion of the opening to produce sufficient suction in an area around the base portion.

According to embodiments, the nozzle inlet may form part of the housing or alternatively, may be attached to the housing, and wherein the base portion may extend closest to the surface to be cleaned of the nozzle inlet and the housing.

According to embodiments, a bottom surface of each of the distance members may form a smooth transition between the second level and the first level. Since the distance members are comprised in the leading edge portion of the frame structure, in this manner the leading edge portion may slide over a vertical transition of the surface to be cleaned, such as when the robotic vacuum cleaner transits from a bare floor surface onto a carpet or over a doorsill.

According to embodiments, the nozzle inlet may comprise at least one cross brace extending from at least one of the distance members to the trailing edge. In this manner elongated objects, such as cables, may be prevented from being caught in the opening.

According to embodiments, the at least one cross brace forms part of the base portion and extends at the first level. In this manner the cross brace may prevent the trailing edge from abutting, in the opening, against a vertical transition of the surface to be cleaned, such as a carpet edge. This could otherwise prevent the robotic vacuum cleaner from continuing traveling forwardly.

According to embodiments, the robotic vacuum cleaner may comprise a rotatable elongated brush roll arranged inside the housing and extending along the nozzle inlet, the rotatable elongated brush roll comprising radially extending members extending from inside the housing at least to the first level. In this manner the elongated brush roll may assist in propelling in particular larger debris, such as sand and small stones, into the opening.

According to embodiments, a first radially extending member of the radially extending members may comprise a resilient lip and a second radially extending member of the radially extending members may comprise bristles.

According to embodiments the robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit, a debris receptacle. The robotic vacuum cleaner comprises a nozzle arranged in a portion of the housing facing the surface to be cleaned. The nozzle comprises a frame structure forming a suction opening. The opening being arranged in fluid communication with the debris receptacle. The vacuum producing unit being arranged in fluid communication with the opening. The frame structure has a leading edge portion or front edge and opposite thereto a trailing edge portion. The leading edge portion and the trailing edge portion border to the suction opening.

The leading edge portion forming a first channel on a first distance between the leading edge portion and the surface to be cleaned. The leading edge portion comprises a second channel. Where the leading edge portion in the second channel is on a second distance between the leading edge portion and the surface to be cleaned which is increased compared to the first distance.

According to embodiments the robotic vacuum cleaner wherein the first distance extends at distance less than 5 mm from the surface to be cleaned.

According to embodiments the robotic vacuum cleaner wherein the second distance extends at distance more than 5 mm from the surface to be cleaned.

According to embodiments the robotic vacuum cleaner wherein the second distance extends a distance more than 7 mm from the surface to be cleaned.

According to embodiments the robotic vacuum cleaner wherein the base portion is that part of the nozzle which extends closest to the surface to be cleaned.

According to embodiments the robotic vacuum cleaner, wherein the nozzle forms part of the housing or is attached to the housing. Wherein the base portion extends closest to the surface to be cleaned of the nozzle and the housing.

According to embodiments the robotic vacuum cleaner, wherein the nozzle comprises at least one cross brace extending from the leading edge portion to the trailing edge portion.

According to embodiments the robotic vacuum cleaner comprising a rotatable elongated brush roll arranged inside the housing and extending along the nozzle. The rotatable elongated brush roll comprising radially extending members extending from inside the housing at least to the first level.

According to embodiments the robotic vacuum cleaner, wherein a first radially extending member of the radially extending members comprises a resilient lip. A second radially extending member of the radially extending members comprises bristles.

According to embodiments the robotic vacuum cleaner comprising a rotatable side brush comprising bristles and the aperture is arranged close to the end of the bristles.

According to embodiments the robotic vacuum cleaner, wherein the rotatable side brush comprising bristles extending radially to a rotation axis of the rotatable side brush and extending substantially in parallel with the surface to be cleaned. The bristles extend to, and beyond, a lateral portion of the housing and over a side portion of the nozzle. The aperture is arranged in or close to the side portion.

According to embodiments a nozzle for a robotic vacuum cleaner comprising a front edge extending along a suction opening. The front edge comprises a first section with a first distance between the front edge and a surface to be cleaned. And a second section with a second distance, which is longer than the first distance.

According to embodiments a nozzle for a robotic vacuum cleaner wherein the second distance is more than 2 times longer than the first distance, preferably more than 3 times longer than the first distance.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the first section of the front edge is arranged closest to the surface to be cleaned.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the second section is arranged at one or two locations along the front edge.

According to embodiments a nozzle, wherein the first section is arranged at one or more locations along the front edge, preferably 1, 2 or 3 locations.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the second section is arranged near the one or both ends of the suction opening, preferably the suction opening is an elongated opening.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the first section extends along more than 75% of the front edge, preferably more than 90% of the front edge.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the suction opening is an elongated opening extending next to the front edge.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the second section comprises an aperture.

According to embodiments a nozzle for a robotic vacuum cleaner, wherein the second section comprises 1 or 2 apertures.

According to embodiments a nozzle for a robotic vacuum cleaner wherein the aperture in the second section is arranged adjacent to one end of the elongated suction opening or the 2 apertures in the second section are arranged adjacent to each end of the elongated suction opening.

According to embodiments a robotic vacuum cleaner comprising a housing (4), a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprises a vacuum producing unit, a debris receptacle, and a nozzle arranged in a portion of the housing facing the surface to be cleaned. The robotic vacuum cleaner comprising a nozzle as described above.

According to embodiments a robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprises a vacuum producing unit, a debris receptacle, and a nozzle arranged in a portion of the housing facing the surface to be cleaned. The nozzle comprises an elongated suction opening. The suction opening being arranged in fluid communication with the debris receptacle. The vacuum producing unit being arranged in fluid communication with the suction opening. The front edge being arranged along one side of the elongated suction opening. Between the front edge and the surface to be cleaned an air channel is created. The front edge comprises an aperture.

According to embodiments the robotic vacuum cleaner, wherein air flow in the aperture is increased compared to the air flow in the other part of the air channel.

According to embodiments the robotic vacuum cleaner, wherein the aperture allows a larger particle to pass under the front edge compared to the other part of the front edge into the suction opening.

According to embodiments a robotic vacuum cleaner comprising a housing, a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit, a debris receptacle, and a nozzle arranged in a portion of the housing facing the surface to be cleaned. The nozzle comprises an elongated suction opening. The suction opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit being arranged in fluid communication with the suction opening. The nozzle comprising a front edge extending along the elongated suction opening. The front edge comprises a first section with a first distance between the front edge and a surface to be cleaned. The front edge comprises a second section with a second distance, which is longer than the first distance.

According to embodiments a robotic vacuum cleaner, wherein the second distance is more than 2 times longer than the first distance, preferably more than 3 times higher than the first distance.

According to embodiments the robotic vacuum cleaner, wherein the section of the front edge arranged closest to the surface to be cleaned is the first section.

According to embodiments the robotic vacuum cleaner wherein the second section is arranged at one or two locations along the front edge.

According to embodiments the robotic vacuum cleaner, wherein the second section is arranged near the one or both ends of the elongated opening.

According to embodiments a robotic vacuum cleaner comprising a housing. The robotic vacuum cleaner comprises a drive arrangement being configured to drive the vacuum cleaner along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit, a debris receptacle. The robotic vacuum cleaner comprising a nozzle arranged in the housing facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening. The suction opening being arranged in fluid communication with the debris receptacle and the vacuum producing unit. The front edge comprises an aperture.

According to embodiments the robotic vacuum, wherein the opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner, and the aperture is arranged adjacent to one end of the elongated opening.

According to embodiments the robotic vacuum cleaner, wherein the aperture is arranged at the right or left side of the nozzle.

According to embodiments the robotic vacuum cleaner, wherein one aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

According to embodiments the robotic vacuum cleaner, wherein a side brush is arranged at one end of the nozzle. The aperture is arranged at the same end.

According to embodiments the robotic vacuum cleaner, wherein the aperture is arranged adjacent to the end of the bristles of the side brush.

According to embodiments a method in a robotic vacuum cleaner, such as described above, comprising the step

-   -   driving the robotic vacuum cleaner along a cleaning path;     -   detecting or encountering a debris particle;         -   debris particle of size suitable for passing between the             first section of the front edge and the surface being             cleaned is sucked into the suction opening and further into             the debris receptacle;         -   debris particle (80) of a size not suitable for passing             between the first section of the front edge is pushed             forward of the vacuum cleaner;         -   turning the robotic vacuum cleaner so that at least one of             the second section or aperture is towards the outside of the             robotic vacuum cleaner in the turn;         -   pushing the debris particle along the front edge radially             outwards during the turning;         -   when the debris particle is in front of the second section             or aperture the particle is sucked through the second             section or aperture and into the suction opening and further             into the debris receptacle;

According to embodiments a method in a robotic vacuum cleaner, wherein the robotic vacuum cleaner is in a cleaning mode.

According to embodiments a method in a robotic vacuum cleaner, wherein the cleaning mode comprises following a spiral path.

According to embodiments a method in a robotic vacuum cleaner, wherein the cleaning mode comprises following a zigzag path and/or a random path.

According to embodiments a method in a robotic vacuum cleaner wherein the robotic vacuum cleaner drives in a path to move larger particles along the leading edge portion towards the second section/aperture.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of the invention, including its particular features and advantages, will be readily understood from the example embodiments discussed in the following detailed description and the accompanying drawings, in which:

FIGS. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner according to embodiments,

FIG. 3 illustrates a nozzle inlet of the robotic vacuum cleaner shown in FIG. 2,

FIG. 4 illustrates a partial enlargement of the nozzle inlet shown in FIG. 3, and

FIG. 5 illustrates a partial enlargement of an area of FIG. 2.

FIG. 6 illustrates a robotic vacuum cleaner and moving path

FIG. 7 illustrates a bottom side of a robotic vacuum cleaner, such as in FIG. 1 or 2

FIG. 8 illustrates a front side of a robotic vacuum cleaner, such as in FIG. 1 or 2.

FIG. 9 illustrates a robotic vacuum cleaner, such as in FIG. 1 or 2, and moving path

FIG. 10a-b illustrates a robotic vacuum cleaner and moving path

DETAILED DESCRIPTION

Aspects of the present invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and/or clarity.

FIGS. 1 and 2 illustrate a top view and a perspective bottom view of a robotic vacuum cleaner 2 according to embodiments. The robotic vacuum cleaner 2 comprises a housing 4, a drive arrangement 6 configured to drive the vacuum cleaner 2 along a surface to be cleaned, a vacuum producing unit 8 (schematically illustrated), a debris receptacle 10, and a nozzle 12 arranged in a portion of the housing 4 facing the surface to be cleaned.

The drive arrangement 6 ensures that the robotic vacuum cleaner is a self-propelling unit. The drive arrangement 6 comprises two wheels 18 driven by electric drive motors 20, (schematically illustrated). The drive arrangement 6 comprises non-driven supporting wheels 22. The drive arrangement 6 also comprises a control system 24 (schematically illustrated) configured to control the electric drive motors 20. The control system 24 comprises sensors 26 assisting in controlling the movement of the robotic vacuum cleaner 2.

The debris receptacle 10 is arranged in the housing 4. One side portion 32 of the debris receptacle 10 forms an outer surface portion of the robotic vacuum cleaner 2. Thus, the debris receptacle 10 is easily accessible and removable by a user for emptying thereof. The nozzle 12 is elongated and extends in parallel with a rotation axis of the two driven wheels 18. Thus, the nozzle extends across a travelling direction of the robotic vacuum cleaner 2 for broad cleaning coverage.

The nozzle 12 comprises a frame structure 28 forming an opening 30. The opening 30 is arranged in fluid communication with the debris receptacle 10 and the vacuum producing unit 8 is arranged in fluid communication with the opening 30. Thus, the vacuum producing unit 8 may produce a suction force at the opening 30 to transport debris from an area around the opening 30 via a debris conduit system to the debris receptacle 10.

The robotic vacuum cleaner 2 comprises a rotatable side brush 14 comprising bristles 34 extending radially to a rotation axis 16 of the rotatable side brush 14 and extending substantially in parallel with the surface to be cleaned. The bristles 34 extend to, and beyond, a lateral portion 35 of the housing 4 and over a side portion 36 of the nozzle 12. The bristles 34 have been illustrated schematically in FIG. 2. In practice the bristles 34 may be considerably thinner than illustrated and the rotatable side brush 14 may be provided with a considerably larger number of bristles 34 than illustrated. The robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle 12 including the side portion 36 of the nozzle 12.

FIG. 3 illustrates the nozzle 12 of the robotic vacuum cleaner 2 shown in FIG. 2 in greater detail. In these embodiments, the nozzle 12 is comprised in a removable lid 40 configured to be positioned in the housing of the robotic vacuum cleaner 2. In alternative embodiments, the nozzle 12 may be formed directly in the housing.

As mentioned above, the nozzle 12 comprises a frame structure 28 forming an opening 30. The frame structure 28 has a leading edge portion (front edge) 42 and opposite thereto a trailing edge portion 44. The leading edge portion 42 and the trailing edge portion 44 border to the opening 30. The frame structure 28 comprises a base portion 46, which in use of the robotic vacuum cleaner extends substantially in parallel with the surface to be cleaned at a first level.

The leading edge portion 42 comprises at least two distance members 48 forming there between a channel 50 to the opening 30. In these embodiments the leading edge portion 42 comprises five distance members 48, 48′. In alternative embodiments the leading edge portion may comprise less than five distance members, e.g. three or four distance members, or more than five distance members, e.g. 6-10 distance members, alternatively no distance members.

FIG. 4 illustrates a partial enlargement of the nozzle 12 shown in FIG. 3. The channel 50 has a delimiting surface 52 extending at a second level substantially in parallel with the first level. In use of the robotic vacuum cleaner the first level is arranged closer to the surface to be cleaned than the second level.

If no distance members are used the delimiting surface 52 extends all along the leading edge portion 42.

In this embodiment, each distance member 48 has a substantially triangular cross section extending substantially in parallel with the first plane. Each distance member 48 extends between the first level and the second level with a top 54 of the substantially triangular cross section facing outwardly from the opening 30 and a base 56 of the substantially triangular cross section extending in parallel with the opening 30. Side surfaces 58 of the distance members 48 extend substantially from the top 54 to the base 56 of the substantially triangular cross section. At least a portion of the side surfaces 58 extend substantially perpendicularly to the base portion 46 and to the delimiting surface 52 of the channel 50.

The trailing edge portion 44 forms part of the base portion 46 and part of the side portion 36 of the nozzle 12. In these embodiments the side portion 36 extends at the second level. Accordingly, at the base portion 46 the trailing edge portion 44 extends at the first level and at the side portion 36 the trailing edge portion 44 extends at the second level. In alternative embodiments the entire trailing edge portion 44 may extend at the first level.

It is clearly visible in FIGS. 3 and 4 that the delimiting surface 52 extends at a different level than the base portion 46, i.e. at the second level. Also at a lateral end 47 of the nozzle inlet 12 and at the trailing edge portion 44 of the side portion 36, the side portion 36 may extend at the second level. Alternatively, the lateral end 47 and the trailing edge portion 44 of the side portion 36 may extend at the first level. As also clearly visible in FIGS. 3 and 4, the leading edge portion 42 comprises a number of portions extending at the second level, namely delimiting surfaces 52 of channels formed between the distance members 48 as well at end portions of the opening 30 next to the outer distance members 48′.

The nozzle 12 comprises at least one cross brace 62 extending from at least one of the distance members 48 to the trailing edge 44. The at least one cross brace 62 forms part of the base portion 46 and extends at the first level.

The substantially triangular cross section of two adjacent distance members 48 reduce the cross section of the channel 50 formed there between towards the opening 30. Thus, one of the side surfaces 58 of a first of the at least two distance members 48 and one thereto opposing side surface 58 of a second of the at least two distance members 48 forms a funnel towards the opening 30.

A bottom surface 60 of each of the distance members 48 forms a smooth transition between the second level and the first level.

FIG. 5 illustrates an enlargement of the encircled area V of FIG. 2 with the rotatable side brush removed for the sake of clarity. As discussed in connection with FIG. 2, the robotic vacuum cleaner 2 comprises a rotatable elongated brush roll 38 arranged inside the housing 4 and extending along the nozzle inlet 12. The rotatable elongated brush roll 38 comprises radially extending members 64′, 64″ extending from inside the housing 40 at least to the first level. In these embodiments, a first radially extending member 64′ of the radially extending members comprises a resilient lip and a second radially extending member 64″ of the radially extending members comprises bristles. Alternatively, all radially extending members 64′, 64″ may comprise resilient lips or bristles.

In use of the robotic vacuum cleaner 2, the base member 46 at the first level may extend at a distance of less than 2 mm from the surface to be cleaned. In use of the robotic vacuum cleaner 2, the base portion 46 may be that part of the nozzle 12, which extends closest to the surface to be cleaned. In use of robotic vacuum cleaner 2, the nozzle 12 may form part of the housing 4 or alternatively, may be attached to the housing 4, and wherein the base portion 46 may extend closest to the surface to be cleaned of the nozzle 12 and the housing 4.

FIG. 6 illustrates a robotic vacuum cleaner 2 moving along a wall. The enlarged portion illustrates a particle 80 in front of the robotic vacuum cleaner which is too large to enter between the leading edge portion/front edge and the surface to be cleaned. The particle 80 will stay in front of the leading edge portion. During turning of the robotic vacuum cleaner the particle will move relative to the leading edge portion towards the outside of the robotic vacuum cleaner. An aperture 51 (as described in Fig above) is arranged at the end of the nozzle. Since the aperture 51 provides a larger opening the particle may pass and enter the nozzle and further to the dust receptacle.

A second particle 81 is also illustrated. This particle is moved be the bristles of the side brush towards the nozzle 12. If the particle is too big to enter between the leading edge portion/front edge and the surface to be cleaned. The particle 81 will stay in front of the robotic vacuum cleaner or leading edge portion.

The aperture 51 provides a larger opening and the particle may pass and enter the nozzle and further to the dust receptacle.

FIG. 7 illustrates the bottom side of a robotic vacuum cleaner, such as one described above. The robotic vacuum cleaner 2 comprises a nozzle having a front edge 42 and an opening 12. Inside the opening, a rotatable brush 38 may be arranged. The robotic vacuum cleaner also comprises a side brush 14. The front edge comprises an aperture 51.

FIG. 8 illustrates the front of a robotic vacuum cleaner, such as one described above, eg in FIG. 7. The front shows sensors 26 connected to a control system as described above. The front edge 42 comprises a first section S1 arranged with one distance to the surface to be cleaned, and a second section S2 with a second distance to the surface to be cleaned which is higher than the first distance. The second section S2 comprise an aperture (51). The second section S2 thereby provides a larger opening for allowing larger particles to enter the nozzle and the robotic vacuum cleaner.

FIG. 9 illustrates a robotic vacuum cleaner, such as one described above from above and a moving pattern during cleaning. The robotic vacuum cleaner comprises a side brush arranged at the side always facing the outside of the turning. A particle 80 is trapped in front of the robotic vacuum cleaner because it is too large to pass between the front edge and the surface to be cleaned. When turning the robotic vacuum cleaner the particle 80 will move relative the robotic vacuum cleaner, along the front edge towards the outside of the turn. By having an aperture 51 with a height larger than the height over the rest of the front edge the particle 80 may pass the aperture and thereby be cleaned.

FIG. 10a illustrates front of a robotic vacuum cleaner 2, such as one described above. The robotic vacuum cleaner in this embodiment do not have a side brush, however sensors, drive means, control means etc are similar to a robotic vacuum cleaner as described above, e.g. in FIG. 1-2. The robotic vacuum cleaner comprises a front edge 42 having a first section S1 and a second section S2. In this embodiment the first section mainly extends between two parts of the second section. The second section comprises an aperture, in this embodiment each part of the second section comprises an aperture 51. The second section and the aperture 51 is arranged in each end of the opening 30 (see FIG. 10b )

FIG. 10b illustrates front of a robotic vacuum cleaner 2, such as one described above. The figure illustrates a preferred moving path of a robotic vacuum cleaner of the claimed type, especially when no side brush is attached to the robotic vacuum cleaner. A particle 80 trapped in front of the robotic vacuum cleaner due to that its size is too big to pass between the front edge and the surface to be cleaned, eg pass in the first section S1. An S-form moving pattern may make it possible to clean even these larger particles. When turning the robotic vacuum cleaner the particle 80 will move along the front edge towards the outside of the turn. By having an aperture large enough to allow the particle 80 to pass the particle 80 will be cleaned.

If the moving pattern of the robotic vacuum cleaner during cleaning is based on turning always in the same direction, e.g spiral cleaning, it may be enough with only one aperture arranged at the side always facing the outside of the curve. If the moving pattern during cleaning is turning at both left and right, e.g. random cleaning, it is preferred to arrange one aperture at each side of the robotic vacuum cleaner, e.g. both sides of the elongated opening.

A robotic vacuum cleaner (2) comprising a housing (4), a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. A robotic vacuum cleaner (2) comprising a vacuum producing unit (8), a debris receptacle (10). A robotic vacuum cleaner (2) comprising and a nozzle (12) arranged in a portion of the housing (4) facing the surface to be cleaned. The nozzle (12) comprises a frame structure (28) forming a suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10). The vacuum producing unit (8) being arranged in fluid communication with the suction opening (30). The frame structure (28) has a leading edge portion/front edge (42) and opposite thereto a trailing edge portion (44). The leading edge portion (42) and the trailing edge portion (44) border to the suction opening (30). The leading edge portion (42) forming a first channel (50) on a first distance between the leading edge portion and the surface to be cleaned. The leading edge portion (42) comprises a second channel (51, S2) where the leading edge portion in the second channel is on a second distance between the leading edge portion and the surface to be cleaned. The second distance is longer than the first distance. The second distance is increased compared to the first distance.

A robotic vacuum cleaner (2) wherein the first distance extends at distance less than 5 mm from the surface to be cleaned, preferably 1.5-5 mm

A robotic vacuum cleaner (2) wherein the second distance extends at distance more than 5 mm from the surface to be cleaned, preferably 8-15 mm, or more

A robotic vacuum cleaner (2) wherein the second distance extends a distance more than 7 mm from the surface to be cleaned.

A robotic vacuum cleaner (2) wherein the base portion (46) is that part of the nozzle (12) which extends closest to the surface to be cleaned.

A robotic vacuum cleaner (2) wherein the nozzle (12) forms part of the housing (4). Or the nozzle is attached to the housing (4). The base portion (46) extends closest to the surface to be cleaned of the nozzle (12) and the housing (4).

A robotic vacuum cleaner (2) wherein the nozzle (12) comprises at least one cross brace (62) extending from the leading edge portion to the trailing edge portion (44).

A robotic vacuum cleaner (2) comprising a rotatable elongated brush roll (38) arranged inside the housing (4). The brush extending along the nozzle (12). The rotatable elongated brush roll (38) comprising radially extending members (64′, 64″) extending from inside the housing (4) at least the first distance.

A robotic vacuum cleaner (2), wherein a first radially extending member (64′) of the radially extending members comprises a resilient lip. A second radially extending member (64″) of the radially extending members comprises bristles.

A robotic vacuum cleaner (2) comprising a rotatable side brush 14 comprising bristles 34. The aperture is arranged close to the end of the bristles.

A robotic vacuum cleaner (2), wherein the rotatable side brush 14 comprising bristles 34. The bristles extending radially to a rotation axis 16 of the rotatable side brush 14. The bristles extending substantially in parallel with the surface to be cleaned. The bristles 34 extend to, and beyond, a lateral portion 35 of the housing 4. The bristles extends over a side portion 36 of the nozzle 12. The aperture is arranged in or close to the side portion 36.

A nozzle for a robotic vacuum cleaner comprising a front edge (24) extending along a suction opening (30). The front edge (42) comprises a first section (S1) with a first distance between the front edge and a surface to be cleaned. The front edge comprises a second section (S2) with a second distance. The second distance is longer than the first distance.

A nozzle for a robotic vacuum cleaner, wherein the second distance is more than 2 times longer than the first distance, preferably more than 3 times longer than the first distance.

A nozzle for a robotic vacuum cleaner, wherein the first section of the front edge is arranged closest to the surface to be cleaned.

A nozzle for a robotic vacuum cleaner, wherein the second section is arranged at one or two locations along the front edge.

A nozzle for a robotic vacuum cleaner, wherein the first section is arranged at one or more locations along the front edge, preferably 1, 2 or 3 locations.

A nozzle for a robotic vacuum cleaner, wherein the second section is arranged near the one or both ends of the suction opening. Preferably the suction opening is an elongated opening.

A nozzle for a robotic vacuum cleaner, wherein the first section extends along more than 75% of the front edge. Preferably more than 90% of the front edge.

A nozzle for a robotic vacuum cleaner, wherein the suction opening is an elongated opening extending next to the front edge.

A nozzle for a robotic vacuum cleaner wherein the second section comprises an aperture (51).

A nozzle for a robotic vacuum cleaner, wherein the second section comprises 1 or 2 apertures (51).

A nozzle for a robotic vacuum cleaner wherein the aperture in the second section is arranged adjacent to one end of the elongated suction opening. Alternatively the 2 apertures in the second section are arranged adjacent to each end of the elongated suction opening.

A robotic vacuum cleaner comprising a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10). The robotic vacuum cleaner comprising a nozzle (12) arranged in a portion of the housing (4) facing the surface to be cleaned. The robotic vacuum cleaner comprising a nozzle as described above.

A robotic vacuum cleaner (2) comprising a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10) The robotic vacuum cleaner comprising a nozzle (12) arranged in a portion of the housing (4) facing the surface to be cleaned. The nozzle (12) comprises an elongated suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10). The vacuum producing unit (8) being arranged in fluid communication with the suction opening (30). The front edge (42) being arranged along one side of the elongated suction opening (30). Between the front edge and the surface to be cleaned an air channel (50) is created. The front edge (42) comprises an aperture (51).

A robotic vacuum cleaner, wherein air flow in the aperture (51) is increased compared to the air flow in the other part of the air channel.

A robotic vacuum cleaner, wherein the aperture (51) allows a larger particle to pass under the front edge compared to the other part of the front edge into the suction opening.

A robotic vacuum cleaner (2) comprising a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10). The robotic vacuum cleaner comprising a nozzle arranged in a portion of the housing (4) facing the surface to be cleaned. The nozzle comprises an elongated suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10). The vacuum producing unit (8) being arranged in fluid communication with the suction opening (30. The nozzle comprising a front edge extending along the elongated suction opening (30). The front edge comprises a first section with a first distance between the front edge and a surface to be cleaned the front edge comprises a second section with a second distance, which is longer than the first distance.

A robotic vacuum cleaner, wherein the second distance is more than 2 times longer than the first distance, preferably more than 3 times higher than the first distance.

A robotic vacuum cleaner, wherein the section of the front edge arranged closest to the surface to be cleaned is the first section.

A robotic vacuum cleaner, wherein the second section is arranged at one or two locations along the front edge.

A robotic vacuum cleaner, wherein the second section is arranged near the one or both ends of the elongated opening.

A robotic vacuum cleaner (2) comprising a housing (4). The robotic vacuum cleaner comprising a drive arrangement (6) being configured to drive the vacuum cleaner (2) along a surface to be cleaned. The robotic vacuum cleaner comprising a vacuum producing unit (8), a debris receptacle (10). The robotic vacuum cleaner comprising a nozzle arranged in the housing (4) facing the surface to be cleaned. The nozzle comprises a front edge, and a suction opening (30). The suction opening (30) being arranged in fluid communication with the debris receptacle (10) and the vacuum producing unit (8). The front edge comprises an aperture (51).

A robotic vacuum cleaner wherein the opening is elongated extending in a direction perpendicular to the drive direction of the robotic vacuum cleaner. The aperture is arranged adjacent to one end of the elongated suction opening.

A robotic vacuum cleaner, wherein the aperture is arranged at the right or left side of the nozzle and/or right or left side of the elongated suction opening.

A robotic vacuum cleaner wherein one aperture is arranged at the right side of the nozzle. A second aperture is arranged at the left side of the nozzle.

A robotic vacuum cleaner, wherein a side brush (14) is arranged at one end of the nozzle. The aperture is arranged at the same end.

A robotic vacuum cleaner, wherein the aperture is arranged adjacent to the end of the bristles of the side brush.

A method in a robotic vacuum cleaner such as described above comprising the step

-   -   driving the robotic vacuum cleaner along a cleaning path;     -   detecting or encountering a debris particle;         -   debris particle of size suitable for passing between the             first section of the front edge and the surface being             cleaned is sucked into the suction opening and further into             the debris receptacle;         -   debris particle (80) of a size not suitable for passing             between the first section (S1) of the front edge is pushed             forward of the vacuum cleaner;         -   turning the robotic vacuum cleaner so that at least one of             the second section or aperture (51) is towards the outside             of the robotic vacuum cleaner in the turn;         -   pushing the debris particle along the front edge (42)             radially outwards during the turning;         -   when the debris particle is in front of the second section             or aperture the particle is sucked through the second             section or aperture and into the suction opening and further             into the debris receptacle;

A method in a robotic vacuum cleaner wherein the robotic vacuum cleaner is in a cleaning mode.

A method in a robotic vacuum cleaner wherein the cleaning mode comprises following a spiral path.

A method in a robotic vacuum cleaner, wherein the cleaning mode comprises following a zigzag path and/or a random path.

A method in a robotic vacuum cleaner, wherein the robotic vacuum cleaner drives in a path to move larger particles along the leading edge portion towards the second section/aperture.

This invention should not be construed as limited to the embodiments set forth herein. A person skilled in the art will realize that different features of the embodiments disclosed herein may be combined to create embodiments other than those described herein, without departing from the scope of the present invention, as defined by the appended claims. Although the invention has been described with reference to example embodiments, many different alterations, modifications and the like will become apparent for those skilled in the art. Therefore, it is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended claims.

As used herein, the term “comprising” or “comprises” is open-ended, and includes one or more stated features, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, elements, steps, components, functions or groups thereof. 

1-64. (canceled)
 65. A robotic vacuum cleaner comprising: a housing; a drive arrangement being configured to drive the vacuum cleaner in a drive direction along a surface to be cleaned; a vacuum producing unit; a debris receptacle; and a nozzle arranged in a portion of the housing facing the surface to be cleaned, wherein the nozzle comprises: a frame having a leading edge portion, a trailing edge portion behind the leading edge portion with respect to a direction of travel, and side edges joining the leading edge portion to the trailing edge portion to thereby define a suction opening in fluid communication with the vacuum producing unit and the debris receptacle, wherein the leading edge portion comprises: a bottom surface facing the surface to be cleaned, at least one first channel extending in the drive direction through the leading edge portion to the suction opening and located a first distance above the bottom surface when the robotic vacuum cleaner is in an operative position on the surface to be cleaned and, at least one second channel extending in the drive direction through the leading edge portion to the suction opening and located a second distance above the bottom surface when the robotic vacuum cleaner is in an operative position on the surface to be cleaned and extending to the suction opening, wherein the second distance is greater than the first distance.
 66. The robotic vacuum cleaner according to claim 65, wherein the first distance is less than 5 millimeters from the surface to be cleaned when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 67. The robotic vacuum cleaner according to claim 66, wherein the second distance is more than 5 millimeters from the surface to be cleaned when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 68. The robotic vacuum cleaner according to claim 67, wherein the second distance is more than 7 millimeters from the surface to be cleaned when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 69. The robotic vacuum cleaner according to claim 65, wherein the bottom surface is located below the remainder of the nozzle when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 70. The robotic vacuum cleaner according to claim 69, wherein the bottom surface is located below the housing when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 71. The robotic vacuum cleaner according to claim 65, further comprising a rotatable elongated brush roll arranged inside the housing and extending along the nozzle, the rotatable elongated brush roll comprising radially extending members extending from inside the housing to at least a level of the bottom surface when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 72. The robotic vacuum cleaner according to claim 71, wherein a first radially extending member of the radially extending members comprises a resilient lip and a second radially extending member of the radially extending members comprises bristles.
 73. The robotic vacuum cleaner according to claim 65, further comprising a rotatable side brush attached to the housing at a location offset from the suction opening in a direction perpendicular to the drive direction, wherein the rotatable side brush is configured to rotate about a vertical axis extending away from the surface to be cleaned when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 74. The robotic vacuum cleaner according to claim 73, wherein at least one second channel is comprises an aperture adjacent to a side edge of the frame, and the rotatable side brush comprises bristles that are dimensioned to pass proximate to the aperture during rotation of the rotatable side brush when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 75. The robotic vacuum cleaner according to claim 74, wherein the bristles are dimensioned to pass between the aperture and the surface to be cleaned when the robotic vacuum cleaner is in an operative position on the surface to be cleaned.
 76. The robotic vacuum cleaner according to claim 65, wherein the suction opening is elongated extending in a direction perpendicular to the drive direction, the at least one second channel comprises a first aperture located at one end of the elongated suction opening.
 77. The robotic vacuum cleaner according to claim 65, wherein the suction opening is elongated extending in a direction perpendicular to the drive direction, the at least one second channel comprises a first aperture located at one end of the elongated suction opening, and a second aperture located at a second end of the elongated suction opening.
 78. A method for operating a robotic vacuum cleaner having a housing, a drive arrangement being configured to drive the vacuum cleaner in a drive direction along a surface to be cleaned, a vacuum producing unit, a debris receptacle, an elongated suction opening extending in a lateral direction perpendicular to the drive direction, the suction opening being located behind opening comprising a leading edge of a nozzle having bottom surface and at least one channel located at a lateral end of the elongated suction opening and located above the bottom surface when the robotic vacuum cleaner is in an operative position on the surface to be cleaned, the method comprising: driving the robotic vacuum cleaner along a cleaning path; detecting or encountering a debris particle that is larger than a distance between the surface to be cleaned and the bottom surface of the nozzle; using the nozzle to push the debris particle along the drive direction forward of the vacuum cleaner and simultaneously turning the robotic vacuum cleaner to align the debris particle with one of the at least one channel; receiving the debris particle through the one of the at least one channel; sucking the debris particle through the suction opening; and depositing the debris particle in the debris receptacle
 79. The method according to claim 78, wherein turning the robotic vacuum cleaner comprises following a spiral path.
 80. The method according to claim 78, wherein turning the robotic vacuum cleaner comprises following a zigzag path and/or a random path.
 81. The method according to claim 78, wherein turning the robotic vacuum cleaner comprises following a random path.
 82. The method according to claim 78, wherein receiving the debris particle through the one of the at least one channel comprises directing the debris particle through the one of the at least one channel using a rotating side brush. 